Earthquake search and rescue robot

Abstract

The invention discloses an earthquake search and rescue robot which comprises a robot body. The hoisting assembly is arranged on the robot main body; a part of the wear-resistant cable is wound on the hoisting assembly; the elastic screw rod assembly is fixedly arranged outside the wear-resistant cable in a sleeving manner; the fixing ball is arranged at the bottom end of the elastic screw rod assembly; the auxiliary camera is arranged on the fixed ball, and the bottom end of the wear-resistant cable is electrically connected with the auxiliary camera; wherein an opening is formed in the bottom end of the robot main body; the device is convenient to operate and control, and is beneficial to investigation of scenes in ruins.

Description

Technical Field

[0001] The present invention relates to the technical field of search and rescue robots, and particularly to an earthquake search and rescue robot. Background Art

[0002] After an earthquake occurs, the structure of the ruins is complex. The traditional search and rescue methods mainly rely on manual labor, and it is difficult for rescue personnel to quickly and safely enter to search for survivors. At present, some search and rescue robots can replace manual labor to a certain extent in search and rescue work. In order to facilitate the detection of the situation inside the ruins, existing search and rescue robots usually use external mechanical arms and other devices to carry cameras deep into the ruins. However, the external manipulator will increase the weight of the entire robot device, and it is also easily affected and restricted by the surrounding space. Summary of the Invention

[0003] The purpose of the present invention is to provide an earthquake search and rescue robot, which is convenient to operate and helps to detect the situation inside the ruins.

[0004] To solve the above technical problems, the present invention provides the following technical solution: An earthquake search and rescue robot, comprising: a robot main body; a lifting assembly, the lifting assembly is arranged on the robot main body; a wear-resistant cable, a part of the wear-resistant cable is wound around the lifting assembly; an elastic spiral rod assembly, the elastic spiral rod assembly is fixedly sleeved outside the wear-resistant cable; a fixed ball, the fixed ball is arranged at the bottom end of the elastic spiral rod assembly; an auxiliary camera, the auxiliary camera is arranged on the fixed ball, and the bottom end of the wear-resistant cable is electrically connected to the auxiliary camera; wherein, an opening is arranged at the bottom end of the robot main body; the lifting assembly is used for winding up the wear-resistant cable and driving the elastic spiral rod assembly to lift and lower. When the lifting assembly drives the elastic spiral rod assembly to descend, the auxiliary camera can be exposed from the opening, and the wear-resistant cable, the elastic spiral rod assembly, the fixed ball and the auxiliary camera are swung by moving the robot main body back and forth.

[0005] Further, it further comprises: a limiting assembly, the limiting assembly is used for limiting the wear-resistant cable; an adjusting assembly, the adjusting assembly is arranged on the robot main body, and the adjusting assembly drives the limiting assembly to move.

[0006] Further, the elastic spiral rod assembly comprises: a first spiral section, the fixed ball is arranged at the lower part of the first spiral section; a second spiral section, the upper part of the second spiral section is fixedly sleeved outside the wear-resistant cable; a conical spiral section, the conical spiral section is arranged between the first spiral section and the second spiral section.

[0007] Further, the large end of the conical spiral section faces downwards and the small end faces upwards.

[0008] Further, the portions of the wear-resistant cable located inside the first spiral section, the conical spiral section, and the second spiral section are all in a bent state.

[0009] Further, the lifting assembly includes: a first support seat disposed on the robot main body; a second support seat disposed on the robot main body; a winding roller, both ends of the winding roller are rotatably disposed on the first support seat and the second support seat respectively; a lifting motor disposed on the first support seat, and an output end of the lifting motor is fixedly connected to the winding roller; wherein, a part of the wear-resistant cable is wound outside the winding roller.

[0010] Further, the limiting assembly includes: guide rollers, there are two guide rollers, and the two guide rollers are arranged in parallel; a support seat, both guide rollers are rotatably disposed on the support seat; wherein, the guide rollers are adapted to the wear-resistant cable, and the wear-resistant cable is located between the two guide rollers.

[0011] Further, the adjusting assembly adopts a hydraulic cylinder or an electric telescopic rod.

[0012] Further, a shielding plate adapted thereto is detachably disposed inside the opening.

[0013] Further, a support frame is disposed on the robot main body, and a main camera is installed on the support frame.

[0014] Compared with the prior art, the beneficial effects achieved by the present invention are as follows.

[0015] 1. By unwinding the wear-resistant cable in the present invention, the elastic spiral rod assembly, the fixed ball, and the auxiliary camera can pass through the opening, so that the auxiliary camera can be conveniently extended into the holes or gaps formed by the earthquake ruins, which helps to detect the situation inside the ruins.

[0016] 2. By reciprocally moving the robot main body in the present invention, it is convenient to cause the wear-resistant cable, the elastic spiral rod assembly, the fixed ball, and the auxiliary camera as a whole to swing. During the swinging process, it is convenient to increase the shooting angle of the auxiliary camera, so as to be more conducive to finding the affected people.

[0017] 3. By setting the elastic spiral rod assembly, the protection effect on the fixed ball and the auxiliary camera is improved; in addition, during the process of the auxiliary camera completing the detection and resetting back into the robot main body, it can effectively prevent the elastic spiral rod assembly from being stuck. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The drawings are used to provide a further understanding of the present invention, and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention, and do not constitute a limitation to the present invention.

[0019] Figure 1 It is a schematic diagram of the overall structure of the first embodiment of the present invention.

[0020] Figure 2 It is a schematic diagram of the overall structure of the first embodiment of the present invention from another angle.

[0021] Figure 3 It is a schematic diagram of the opening position of the first embodiment of the present invention.

[0022] Figure 4 It is a schematic diagram of the cooperation of the lifting component, the limiting component, the adjusting component and the wear-resistant cable in the first embodiment of the present invention.

[0023] Figure 5 It is a schematic diagram of the cooperation between the elastic spiral rod component and the wear-resistant cable in the first embodiment of the present invention.

[0024] Figure 6 It is a schematic diagram of the structure of the elastic spiral rod component in the first embodiment of the present invention.

[0025] Figure 7 It is a schematic diagram of the structures of the limiting component and the adjusting component in the first embodiment of the present invention.

[0026] In the figure: 1, robot main body; 11, opening; 2, support frame; 21, main camera; 3, baffle; 4, lifting component; 41, first support; 42, second support; 43, winding roller; 44, lifting motor; 5, elastic spiral rod component; 51, first spiral section; 52, second spiral section; 53, conical spiral section; 6, fixed ball; 61, auxiliary camera; 7, wear-resistant cable; 8, limiting component; 81, support seat; 82, guide roller; 9, adjusting component. Specific embodiments

[0027] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0028] Embodiment 1

[0029] Please refer to Figures 1 - 7, the present invention provides a technical solution: an earthquake search and rescue robot, including a robot main body 1, the robot main body 1 includes a housing, a traveling mechanism, a power supply, a wireless communication device, a control device, a detection lamp, etc., which are prior arts and will not be elaborated here; a support frame 2 is provided on the robot main body 1, and a main camera 21 is installed on the support frame 2; the search and rescue robot further includes a lifting assembly 4 and a wear-resistant cable 7; the lifting assembly 4 is arranged inside the robot main body 1, the top end of the wear-resistant cable 7 is electrically connected to the control device included in the robot main body 1, a part of the wear-resistant cable 7 is wound around the lifting assembly 4, and the bottom end of the wear-resistant cable 7 is connected to an auxiliary camera 61; the auxiliary camera 61 is installed on a fixed ball 6, and the wear-resistant cable 7 penetrates the fixed ball 6; an elastic spiral rod assembly 5 is fixedly arranged on the fixed ball 6, a part of the wear-resistant cable 7 near the bottom end is covered by the elastic spiral rod assembly 5, and a part of the elastic spiral rod assembly 5 is fixedly connected to the wear-resistant cable 7.

[0030] An opening 11 is provided at the bottom end of the robot main body 1, and a shielding plate 3 adapted thereto is detachably arranged inside the opening 11; specifically, the shielding plate 3 can be connected to the robot main body 1 by means of snap connection or screw connection, etc.; in addition, the lifting assembly 4 is used for winding up the wear-resistant cable 7 and driving the elastic spiral rod assembly 5 to lift and lower. When the shielding plate 3 is removed from inside the opening 11 and the lifting assembly 4 drives the elastic spiral rod assembly 5 to descend, the auxiliary camera 61 can be exposed from the opening 11, and by moving the robot main body 1 back and forth, the wear-resistant cable 7, the elastic spiral rod assembly 5, the fixed ball 6 and the auxiliary camera 61 can be driven to swing.

[0031] The elastic spiral rod assembly 5 is composed of a first spiral section 51, a conical spiral section 53 and a second spiral section 52. The first spiral section 51 is located below the second spiral section 52, and the conical spiral section 53 is located between the first spiral section 51 and the second spiral section 52; the whole elastic spiral rod assembly 5 is made of alloy steel material, having good elasticity and wear resistance characteristics; the first spiral section 51 is adapted to the fixed ball 6, a part of the fixed ball 6 is fixedly connected to the lower part of the first spiral section 51, the second spiral section 52 is adapted to the wear-resistant cable 7, and the upper part of the second spiral section 52 is fixedly connected to the wear-resistant cable 7; in addition, the large end of the conical spiral section 53 faces downwards and the small end faces upwards, and the parts of the wear-resistant cable 7 located inside the first spiral section 51, the conical spiral section 53 and the second spiral section 52 are all in a bent state.

[0032] A limiting component 8 and an adjusting component 9 are further arranged inside the robot main body 1. The limiting component 8 is used for limiting the wear-resistant cable 7, and the limiting component 8 corresponds to the position of the opening 11; the adjusting component 9 is arranged on the robot main body 1, and the adjusting component 9 can drive the limiting component 8 to move along the length direction of the opening 11.

[0033] The limiting component 8 includes a support base 81, on which two guide rollers 82 are arranged. The two guide rollers 82 are arranged in parallel, and both ends of each guide roller 82 are rotatably arranged on the support base 81 respectively. The guide roller 82 is adapted to the wear-resistant cable 7. The guide roller 82 is located between the winding roller 43 and the second spiral section 52. The wear-resistant cable 7 between the winding roller 43 and the second spiral section 52 is limited between the two guide rollers 82. In addition, the adjusting component 9 is fixedly connected to the support base 81, and the adjusting component 9 can drive the support base 81 to move along the length direction of the opening 11, and the length direction of the opening 11 is consistent with the moving direction of the robot body 1.

[0034] The lifting component 4 includes a first support 41 and a second support 42 arranged inside the robot body 1. A winding roller 43 is arranged between the first support 41 and the second support 42. Both ends of the winding roller 43 are movably arranged on the first support 41 and the second support 42 through bearings respectively. A lifting motor 44 is installed on the first support 41. The output end of the lifting motor 44 is connected to the winding roller 43, and a part of the wear-resistant cable 7 is wound outside the winding roller 43. By driving the winding roller 43 to rotate through the lifting motor 44, the unwinding or winding of the wear-resistant cable 7 can be realized. When the baffle 3 is removed, during the process of unwinding the wear-resistant cable 7, under the action of gravity, the elastic screw rod assembly 5, the fixed ball 6 and the auxiliary camera 61 can pass through the opening 11.

[0035] In this embodiment, the main camera 21 takes pictures and conducts investigations. At the same time, by removing the baffle 3, the robot body 1 is controlled to move to a suitable position. By unwinding the wear-resistant cable 7, and since the elastic screw rod assembly 5, the fixed ball 6 and the auxiliary camera 61 can pass through the opening 11, it is convenient to insert the elastic screw rod assembly 5, the fixed ball 6 and the auxiliary camera 61 into the holes or gaps formed by the earthquake ruins, which helps to investigate the situation inside the ruins. In addition, by moving the robot body 1 back and forth, it is convenient to cause the whole of the wear-resistant cable 7, the elastic screw rod assembly 5, the fixed ball 6 and the auxiliary camera 61 to swing. During the swinging process, it is convenient to increase the shooting angle of the auxiliary camera 61, so as to be more conducive to finding the affected people. In addition, for the convenience of shooting by the auxiliary camera 61, an illumination lamp (not shown in the figure) can be arranged on the fixed ball 6, and the illumination lamp can be electrically connected to the power supply or control device included in the robot body 1 through the wear-resistant cable 7.

[0036] Since the adjustment component 9 can drive the movement of the support base 81, the support base 81 is driven to move by the adjustment component 9, changing the positions of the elastic spiral rod component 5, the fixed ball 6, and the auxiliary camera 61 exposed from the opening 11. This facilitates the auxiliary camera 61 to penetrate into the holes or gaps formed by the earthquake ruins when the robot main body 1 is inconvenient to move forward. In the scenario where the robot main body 1 is inconvenient to move forward, by the reciprocating movement of the robot main body 1 back and forth, it is also possible to conveniently cause the auxiliary camera 61 and the like to swing. And because the entire elastic spiral rod component 5 has good elasticity and wear resistance, and the parts of the wear-resistant cable 7 located inside the first spiral section 51, the conical spiral section 53, and the second spiral are all in a bent state, so during the swinging of the auxiliary camera 61 and the like, when the elastic spiral rod component 5 and the fixed ball 6 touch the surrounding ruins, the elastic spiral rod component 5 can undergo elastic deformation, which helps to slow down the impact and improve the protection effect on the fixed ball 6 and the auxiliary camera 61. In addition, the entire elastic spiral rod component 5 is composed of multiple spiral rods, and its outer side is an arc surface. During the process of the auxiliary camera 61 completing the detection and resetting back into the robot main body 1, it can effectively prevent the elastic spiral rod component 5 from being stuck.

[0037] Embodiment 2

[0038] Based on Embodiment 1, in this embodiment, the adjustment component 9 uses a hydraulic cylinder. The output end of the hydraulic cylinder is fixedly connected to the support base 81, and the length direction of the hydraulic cylinder is consistent with the length direction of the opening 11, so as to drive the support base 81 to move along the length direction of the opening 11.

[0039] Embodiment 3

[0040] Based on Embodiment 1, in this embodiment, the adjustment component 9 uses an electric telescopic rod. The output end of the electric telescopic rod is fixedly connected to the support base 81, and the length direction of the electric telescopic rod is consistent with the length direction of the opening 11, so as to drive the support base 81 to move along the length direction of the opening 11.

[0041] Finally, it should be noted that the above are only the preferred embodiments of the present invention and are not used to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, for those skilled in the art, they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. An earthquake rescue robot, comprising a robot body (1), characterized in that: Also includes: A lifting assembly (4), wherein the lifting assembly (4) is arranged on the robot body (1); A wear-resistant cable (7), a portion of which is wound around the lifting assembly (4); An elastic spiral rod assembly (5), wherein the elastic spiral rod assembly (5) is fixedly sleeved on the outside of the wear-resistant cable (7); A fixing ball (6), wherein the fixing ball (6) is arranged at the bottom end of the elastic spiral rod assembly (5); An auxiliary camera (61), wherein the auxiliary camera (61) is arranged on the fixed ball (6), and the bottom end of the wear-resistant cable (7) is electrically connected to the auxiliary camera (61); Wherein, the bottom end of the robot body (1) is provided with an opening (11); The lifting assembly (4) is used to reel in the wear-resistant cable (7) and drive the elastic screw rod assembly (5) to rise and fall. When the lifting assembly (4) drives the elastic screw rod assembly (5) to descend, the auxiliary camera (61) can be exposed from the opening (11), and the wear-resistant cable (7), the elastic screw rod assembly (5), the fixed ball (6) and the auxiliary camera (61) can be driven to swing by moving the robot body (1) forward and backward.

2. The earthquake search and rescue robot according to claim 1, characterized in that: Also includes: A limiting component (8), wherein the limiting component (8) is used for limiting the position of the wear-resistant cable (7); An adjusting component (9), wherein the adjusting component (9) is arranged on the robot body (1), and the adjusting component (9) drives the limiting component (8) to move.

3. The earthquake search and rescue robot according to claim 1, characterized in that: The elastic spiral rod assembly (5) comprises: A first spiral section (51), wherein the fixing ball (6) is arranged at the lower part of the first spiral section (51); A second spiral section (52), the upper portion of which is fixedly sleeved on the outside of the wear-resistant cable (7); A conical spiral segment (53), wherein the conical spiral segment (53) is arranged between the first spiral segment (51) and the second spiral segment (52).

4. The earthquake search and rescue robot according to claim 3, characterized in that: The conical spiral section (53) has a large end facing downward and a small end facing upward.

5. The earthquake search and rescue robot according to claim 3, characterized in that: The parts of the wear-resistant cable (7) located inside the first spiral section (51), the conical spiral section (53) and the second spiral section (52) are all in a curved state.

6. The earthquake search and rescue robot according to claim 1, characterized in that: The lifting assembly (4) comprises: A first support (41), wherein the first support (41) is arranged on the robot body (1); A second support (42), wherein the second support (42) is arranged on the robot body (1); A winding roller (43), wherein two ends of the winding roller (43) are rotatably disposed on a first support (41) and a second support (42) respectively; A lifting motor (44), wherein the lifting motor (44) is disposed on the first support (41), and an output end of the lifting motor (44) is fixedly connected to the winding roller (43); Part of the wear-resistant cable (7) is wound around the outside of the winding roller (43).

7. The earthquake search and rescue robot according to claim 2, characterized in that: The limiting component (8) comprises: A guide roller (82), wherein the guide rollers (82) are provided in two numbers and the two guide rollers (82) are arranged in parallel; A support seat (81), wherein the two guide rollers (82) are both rotatably disposed on the support seat (81); The guide roller (82) is adapted to the wear-resistant cable (7), and the wear-resistant cable (7) is located between the two guide rollers (82).

8. The earthquake search and rescue robot according to claim 2, characterized in that: The adjustment component (9) adopts a hydraulic cylinder or an electric telescopic rod.

9. The earthquake search and rescue robot according to claim 1, characterized in that: A shielding plate (3) adapted to the opening (11) is detachably arranged inside the opening (11).

10. The earthquake search and rescue robot according to claim 1, characterized in that: A support frame (2) is provided on the robot body (1), and a main camera (21) is installed on the support frame (2).

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